Metrics.
To evaluate the reconstructed geometry, we report the mean volumetric Intersection over Union (mIoU) and the mean Chamfer \(\ell _1\)  distance (mCham.) over different classes at one time-step, , the center frame of the test clip. To evaluate the temporal motion prediction, we compute the mean Averaged (over time) Correspondence \(\ell _2\)  Distance (mACD) following [1]}. As stated before, OFlow's starting frame is set to the center frame. For a fair comparison, we report mACD on the latter half of each testing clip. We compute mCham. and mACD error in a scale-invariant way following [2]}, [1]}, [4]}: we use 1/10 times the maximal edge length of the object's bounding box as unit one. Even though our network is class-agnostic, we report the mean values over different object categories. Namely, all `mean' operations are conducted over categories.
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